Transfer mechanism



Oct. 26, 1965 J. WILLSEA TRANSFER MECHANISM Original Filed Oct. '7, 1957'7 Sheets-Sheet 1 INVENTOR. JA$PER WILLSEA Fla. 1.

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INVENTOR. JA5PER W/LLSE A A TTORIIEY Oct. 26, 1965 J. WILLSEA TRANSFERMECHANISM '7 Sheets-Sheet 7 Original Filed Oct. '7, 1957 INVENTOR.JASPER WILLSEA ATTORNEY United States Patent 25,889 TRANSFER MECHANISMJasper Willsea, 430 Lake Road, Webster, N.Y.

Original No. 2,959,301, dated Nov. 8, 1960, Ser. No.

688,765, Oct. 7, 1957. Application for reissue Apr. 20,

1964, Ser. N 0. 373,121. This application is a continuation ofapplication Ser. No. 239,862, Nov. 5, 1962 13 Claims. (Cl. 214-1) Matterenclosed in heavy brackets appears in the original patent but forms nopart of this reissue specification; matter printed in italics indicatesthe additions made by reissue.

This application is a continuation of reissue application Serial No.239,862, filed November 5, 1962, and now abandoned.

The present invention relates to transfer devices, and particularly totransfer devices such as may be used in a factory for transferringworkpieces from a conveyor belt to a machine, or vice versa, or from onemachine to another. In a more specific aspect, this invention relates toa device that can perform mechanically all of the transfer movementsthat a human worker can perform.

With hand tools, a completed product usually involved only a single,hard-working, highly skilled artisan. With automatic machinery, the mostcomplicated operations are done more rapidly, with more uniform highquality. The machine operator may have very limited capability, ascompared to the artisan, but once trained to operate the automaticmachinery, he can often do the whole job in a single machine faster andat much less cost.

While the work week was being reduced from sixty to forty hours, therewas a very much greater reduction made in the number of man hoursrequired for a unit of completed product. These man-hour savings are thepivotal consideration in the economics of automatic machinery which hasgiven us more and better things with more leisure, and with a widerrange of human capability to share them.

The demand for automatic, and more automatic machinery goes on. Withcontinuously rising labor costs, means must be provided for meeting theincreased cost of human effort with an equivalent reduction in cost, orthe product will price itself out of the market. This is the reason whymore and more automation is being employed.

An important factor in determining the progress, that can be made in anyindustry, toward an automated factory is the ability to duplicate someof the more subtle functions for which human workers are presentlyrequired. Frequently, in present day factories, human effort isconcentrated in relocating workpieces from machine to machine. Often theimportant human functions are performed with the hand and the arm, ascontrolled by the human brain and supported by the mobile human body.Machines already do a job more efficiently and often better than askilled Worker. The next logical step in the development of automaticproduction is to eliminate the interruption, that occurs between two ormore sets of operations on a given machine or machines while the mannerin which the workpiece is grasped is being changed, or while theworkpiece is being shifted from one machine to another. This requiresapparatus for handling the workpiece discretely rather than as in theusual machine which grasps the workpiece only once in a complete cycleof operations thereon. It is apparatus of this nature that is requiredfor further advancement in automation. What is required is a machinethat can duplicate what are essentially the hand arm movements of ahuman worker, in a controlled manner, similar to that type of controlthat would be exercised by the human ram.

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One object of the present invention is to provide a simple mechanismthat is capable of duplicating the handarm movements of a human worker.

Another object of the invention is to provide a mechanism that iscapable of grasping and transfer movements, for relocating objects, in amanner similar to the same movements of a human worker.

Another object of the invention is to provide an automatic device thatwill perform grasping, transfer, and release functions, repetitively,through automatic controls.

A more specific object of the invention is to provide a mechanismcapable of grasping, transferring, and releasing objects, consecutively,and that can also be moved in directions to duplicate the movements ofwhich a human worker is capable through use of his heels and toes.

Another specific object of the invention is to provide a device of thecharacter described that is capable of translational and rotationalmovement in both a horizontal and a vertical plane, so that the objectsbeing transferred can be moved from any selected point to any otherselected point, in three-dimensional space.

A more general object of the invention is to provide a mechanical devicethat can be substituted for a human worker, and that will replace andduplicate the functions of the human hand and other cooperatingmechanical members of the human body, under automatic, systematiccontrol, so that some of. the more tedious forms of human labor can bereplaced.

Other objects of the invention will be apparent hereinafter from thespecification and from the recital of the appended claims when taken inconjunction with the accompanying drawings.

One embodiment of the invention is shown in the drawings. The transfermechanism illustrated has a fixed base within which a pedestal ismounted to move up and down to elevate and to lower the mechanism. Avertical column is mounted rotatably on the pedestal for rotation abouta vertical axis. A housing is secured on the top of the column. An armis mounted in the housing, for horizontal reciprocating movement in andout of the housing and for rotational movement about a horizontal axisin both directions. Pivotally mounted on the arm for movement about ahorizontal axis is an assembly comprising two jaws mounted for pivotalmovement of one relative to the other.

There is thus provided a device in which one jaw can be pivoted towardand away from the other to grasp and release objects. The jaws arerotatable on the arm about a horizontal axis. to move any object graspedangularly in a vertical plane. The arm can be moved in and out to movethe jaws toward and away from the base. The housing can be rotated onthe vertical shaft in either direction, and can be raised and lowered onthe base, to rotate the jaws in a horizontal plane about a vertical axisand to raise and lower the base vertically, respectively. Thiscombination of movements permits the jaws to be moved together with anobject grasped therebetween between any selected points inthree-dimensional space.

It can be seen that this device can be operated to perform many of thegrasping, transfer, and release functions that are now performed byhuman workers. To accomplish these functions repetitively, a controlsystem is provided, including a rotary cam and cooperating electricalswitches. To determine when an object is to be grasped or released,adjustable trip dogs and a cooperating adjustable limit switch areprovided to move one jaw toward or away from the other at the propertimes in the cycle. The control system replaces the memory and commandfunctions normally exercised by the human brain where human labor isemployed.

The structure of the device, and its operation, will be more readilyunderstood by a consideration of the detailed description thereof thatfollows, with reference to the accompanying drawings.

In the drawings:

FIG. 1 is a front elevation of a mechanism constructed according to oneembodiment of this invention;

FIG. 2 is a section taken on the line 22 of FIG. 1, looking in thedirection of the arrows;

FIG. 3 is a section taken on the lines 33 of FIGS. 1 and 2 looking inthe direction of the arrows;

FIG. 4 is a section taken on the line 44 of FIG. 1, looking in thedirection of the arrows;

FIG. 5 is a section taken on the line 55 of FIG. 1, looking in thedirection of the arrows;

FIG. 6 is a section taken on the line 66 of FIG. 5, looking in thedirection of the arrows;

FIG. 7 is an axial section of the base assembly, taken on the line 7-7of FIG. 1, looking in the direction of the arrows;

FIG. 8 is a front section of the housing, taken on the line 8-8 of FIG.2, looking in the direction of the arrows;

FIG. 9 is a rear section of the housing, taken on the line 99 of FIG. 2,looking in the direction of the arrows;

FIG. 10 is a section taken on the line 1010 of FIG. 2, on an enlargedscale, and looking in the direction of the arrows;

FIG. 11 is a section taken on the line 1111 of FIG. 2, on an enlargedscale, and looking in the direction of the arrows; and

FIG. 12 is a section taken on the line 1212 of FIG. 7, looking in thedirection of the arrows.

Referring now in detail to the drawings, the transfer mechanism includesa fixed rectangular shaped base 14 that has a hollow bore. A pedestal 15is mounted for vertical reciprocation in the bore of the base 14. Anelectric motor 16 is mounted on a bracket 17 that is secured on the base14. The motor is mounted to drive a shaft 20 and a pinion 21 that ismounted on the shaft. A vertically disposed rack 22 (FIG. 7) meshes withthe pinion 21. The electric motor 16 is reversible and can be operatedin either direction to rotate the pinion 21 to move the rack 22 and thepedestal 15 up or down.

A column 23 is rotatably mounted on the pedestal 15. The column 23 has aflange 24 and is mounted on the pedestal 15 by means of a ball bearing25. A ring 27 is secured to the base 15. It is formed with a gib portion29 that projects into a keyway 30 that extends circumferentially of thecolumn 23, to secure the column 23 against axial movement relative tothe pedestal 15.

A reversible electric motor 31 is mounted on a bracket 32 inside thebase 15. The motor 31 drives a shaft 22 and a pinion 34 that is mountedat the end of the shaft. The pinion 34 meshes with a gear 35 that issecured around the column 23. To rotate the column 23 in eitherdirection, the motor 31 is driven in the appropriate direction.

The column 23 is formed with a reduced lower end extension 36 thatprojects axially into the base 15. The reduced end extension 36 isformed with a radiallydirected portion 37 that has an arm 38 dependingdownwardly therefrom.

A contact drum 40 is mounted on a web 41 in the base 15. The contactmember 40 is mounted in fixed position, and has a plurality ofaxially-spaced electrical contact rings 42 arranged peripherallythereon. A corresponding plurality of brushes 43 are mounted on thedownwardly depending arm 38; and each brush 43 engages a selected andcorresponding one of the rings 42. Each brush 43 is electricallyconnected at the arm 38 with a lead Wire 44. The lead wires 44 aregathered together in a single cable 45 that extends through the bores,respectively, of the radical projection 37, and the reduced endextension 36, of the column 23, to carry the lead wires 44 in compactform to various limit switches, to be described presently. A cable 46similarly made up of a plurality of individual wires leads from therings 42 out of the base 14 through an aperture 47 therein.

A control box 48 is mounted on one wall of the base 14. Within the box48, a plurality of cams 49 (FIGS. 7 and 12) are adjustably secured to ashaft 131 that is driven by a constant speed motor 132. Each cam ismounted to engage an electrical switch 133, successively to close and toopen the switch as the shaft 131 rotates. Each switch 133 is connectedto a corresponding contact ring 42 in the pedestal 15, through a leadwire (not shown) in the cable 46. The cams 49 are selectively,individually adjusted angularly on the shaft 131, to close and open theelectrical switches 133 at the proper times in the cycle of operation ofthe mechanism.

Referring again to FIG. 1, a housing 50 is rigidly mounted on the column23. The housing 50 is a box-like structure that is closed on all sides,and that has a reduced extension 51 at one side thereof. Referring nowto FIG. 2, the housing is formed with a longitudinallyextending,integral tubular portion 52 that extends from one side to the other. Anarm 54 is reciprocably mounted in the tubular portion 52.

Referring to FIGS. 4 and 5, an upper electric motor 56 and a lowerelectric motor 56 are mounted one above the other, within the housing,with their axes aligned with each other and with the axis of the column23. The motors drive an upper and a lower pinion, 57 and 57,respectively. Each said pinion meshes with three gears, 60, 61, and 62,and 60, 61, and 62, respectively. The motors 56 and 56' rotatecontinuously and in opposite directions.

Referring specifically to FIGS. 2 and 3, the housing 50 is formed on itsrear wall with a plurality of verticallyaligned internally-projectingbearings 63. The bearings 63 are arranged in spaced pairs, one above theother. A sectional shaft 64, that is formed in three sections, upper,lower, and middle, respectively, is rotatably mounted in the bearings63. At its upper and lower ends, the shaft 64 is journaled in bearings65 in the top and bottom of the housing 50. A magnetic clutch 66connects the upper and middle sections of this shaft between the upperpair of bearings 63. A second magnetic clutch 66' is interposed betweenthe middle and lower sections of the shaft 64, and between the lowerpair of bearings 63. A pinion 70 is secured on the upper section of theshaft 64, immediately above the uppermost bearing 63, to mesh with thegear 60 (FIG. 6). Similarly, a pinion 70' is mounted under the lowersection of the shaft 64, immediately under the lowermost bearing 63, tomesh with the gear 60' (FIG. 2).

A worm 72 is integral with or secured to the middle section of the shaft64, to mesh with a worm wheel 73 that is supported in the housing on ahorizontally-extending shaft 74 (FIGS. 2 and 3). The shaft 74 issupported from the tubular portion 52, adjacent the worm wheel 73; andat its outer end, the shaft 74 is journaled in a bearing 75 formed onthe inside of the housing extension 51. A gear 76 is secured to theshaft 74 to mesh with a gear 77 that is secured on a parallel shaft 78.

To drive the shaft 78 in one direction, the clutch 66 is energized andthe clutch 66 is deenergized. To drive the shaft 78 in the oppositedirection the clutch 66 is deenergized and the clutch 66 is energized.The upper and lower sections of the shaft 64 are constantly driven inopposite directions from the motors 56, 56', so that when one of theclutches 66, 66 is energized, the other must be deenergized.

Referring now to FIG. 5, the housing is formed on its rear wall with asecond group of internally-projecting bearings 63'. A sectional shaft80, similar to shaft 64, is rotatably mounted in these hearings. Thebearings 63' are mounted in spaced pairs, one pair above the other. At

its upper and lower ends, the shaft 80 is journaled in the top andbottom of the housing. A magnetic clutch 81 is interposed between theupper and middle sections of the shaft 80, between the upper pair ofbearings 63'. A second magnetic clutch 81 is interposed between themiddle and lower sections of the shaft 80, and between the lower pair ofbearings 63. A pinion 82 is secured on the upper section of the shaft80, immediately above the uppermost bearing 63, to mesh with the gear61. Similarly, a pinion 82' is mounted on the lower section of the shaft80, immediately under the lowermost bearing 63, to mesh with the gear61'.

A worm 83 is integral with, or secured to, the middle section of theshaft 80, to mesh with a worm wheel 84 that is secured to ahorizontally-extending shaft 85. The shaft 85 is supported from thetubular portion 52, and a gear 86 is secured to the shaft 85 to extendinto a recess 87 that is formed in the tubular portion 52.

The housing 50 is also formed on the inside of its front wall with aplurality of bearings 67 that are mounted in pairs, one above the other,and in which a sectional shaft 90 is rotatably mounted. At its upper andlower ends, the shaft 90 is journaled in the top and bottom of thehousing. The shaft 90 is formed in three sections, upper, lower, andmiddle. A magnetic clutch 91 is interposed between the upper and middlesections of this shaft, and between the upper pair of bearings 67. Asecond magnetic clutch 91' is interposed between the middle and lowersections of the shaft 90, and between the lower pair of bearings 67. Apinion 92 is secured on the upper section of the shaft 90, immediatelyabove the uppermost bearing 67, to mesh with the gear 62 (FIG. 6).Similarly, a pinion 91' is secured to the lower section of the shaft 90,immediately under the lowermost block 63, to mesh with the gear 62 (FIG.2).

A pinion 93 is secured on the middle section of the shaft 90, to meshwith a rack 94 (FIGS. 2 and 8) that is secured to the arm 54 axiallythereof and that projects through an axially-extending slot 95 in thetubular portion 52. To move the arm 54 in or out of the housing 50 andsleeve 52, the middle section of the shaft 90 is driven in a selecteddirection through one of the electromagnetic clutches 91, 91'.

A hearing 96 (FIG. 2) is formed integral with the arm 54, adjacent itsouter end. A pair of arms 97, which are integral with tubular portion52, project through slot 100 that extends axially along one side of thearm 54. A tubular shaft 101 is rotatably mounted in the bearings 96 andarms 97.

A pinion 102 is splined on the hollow shaft 101. The pinion 102 ismounted between the arms 97 to mesh with the gear 86. A bevel pinion 103is integral with the shaft 101 at its outer end.

A second tubular shaft 104 is rotatably mounted within the bore of theshaft 101, but is held therein against relative axial movement. A bevelpinion 105 is adapted to be connected to the shaft 104 by anelectromagnetic clutch 98. The shaft 104 is internally splined, and theshaft 78 is externally splined to connect the shaft 78 rotatably to theshaft 104, while permitting the shaft 104 to move axially relative toshaft 78. The shaft 78 is mounted at its outer end for rotation in abearing 75 that is formed on the side wall of the housing extension 51.

A work-gripping assembly 107 is mounted to pivot about a stud 108 thatis mounted on an extension of arm 54 with its axis at a right angle tothe axis of the arm 54. The assembly 107 comprises a body or casing 109that is formed with a lateral extension 110. A cover plate 111 ismounted over the open lower end of the body 109 and its extension 110.The casing 109 is formed with a hub 112 that is disposed coaxially witha corresponding hub 113 that is formed on the arm 54. The stud 108 isrotatably mounted in the hubs 112, 113. The stud or bolt 108 holds theassembly 107 in position on the end of the arm 54.

A bevel gear 114 is rigidly secured to one wall of the casing 109, tomesh with the bevel pinion 103. A bevel gear 115 is mounted coaxiallywith the gear 114. This gear is integral with huh 116 and meshes withthe bevel pinion 105. A second bevel gear 117 is integral with hub 116.Hub 116 is journaled in assembly 107. There is also a shaft 120journaled in assembly 107 to extend at right angles to the axis of hub116. A pair of bevel pinions 118 are secured to shaft 120. One of thepinions 118 meshes with the bevel gear 117. The second bevel pinion 118meshes with a bevel gear that is secured to a stud shaft 124 which isjournaled in the lateral extension 110 of the casing 107.

The end of the casing extension 110 is formed with a rigid grippingmember or jaw 121 that is mounted to extend in a direction parallel tothe axis of the shaft 120. The casing extension 110 is also formed withan aperture 122 (FIG. 10) at one side of the jaw 121. A movable jawmember 123, which may be likened to a thumb, is secured to shaft 124 forpivotal movement toward and away from the member 121, which may belikened to the fingers of a hand.

A switch 125 (FIG. 10) is mounted on the end of the arm 54, forengagement and actuation by adjustable trip levers 127 that are mountedon the circumference of the casing 109 of the assembly 107. The switch126 is connected in a conventional manner to energize or deenergize theelectromagnetic clutch 98 (FIG. 2) to con nect or to disconnect thepinion 105 to or from the shaft 104, depending upon which of the triplevers 127 engages the switch.

Referring now to FIG. 7, each electrical switch 133 in the control boxis connected to control one electrical device. For example, one switchis connected to energize the clutch 66 (FIG. 3) when the plunger of theswitch is riding on the lobe of the associated cam 49, and to deenergizethe clutch when the plunger of the switch rides down off the lobe of thecam. Similarly, one switch 133 is provided for each of the otherclutches 66' (FIG. 3), 81, 81' (FIG. 5), 91, and 91 (FIG. 5),respectively, to be operated by an associated cam 49 (FIG. 7). A switch133 is also provided for the pedestal motor 16 (FIG. 1), and for thecolumn motor 31 (FIG. 7).

From the foregoing description, it can be seen that a single motion canbe caused to take place at one time, or if desired, all of the motions,of which the machine is capable, can be caused to take placesimultaneously. For example, when the clutch 98 (FIG. 2) is energized toconnect the pinion 105 to the shaft 104, pivotal movement of the jaw 123(FIGS. 2 and 11) toward or away from the jaw 121 can be effected byenergizing the electromagnetic clutches 66, 66 (FIG. 3), which controlthe direction of rotation of the middle section of the shaft 64. Whenthe upper clutch 66 is energized, and the lower clutch 66' isdeenergized, the continuously running uppor motor 56 (FIG. 5) isconnected to drive the middle section of the shaft 64. This connectionis made from the motor 56, through the pinion 57 (FIG. 6), the gear 60,the pinion 70, the upper section of the shaft 64, and the upper clutch66. As the shaft 64 is rotated, it drives the worm 72, the worm wheel 73(FIG. 3), the shaft 74 (FIG. 2), the gears 76 and 77, the shaft 78, thehollow shaft 104, the pinion 105, the gears 115, 117, the pinions 118,and the pinion 125, to rotate the shaft 124 to cause the jaw 123 topivot in one direction relative to the jaw 121. To move the jaw 123 inthe opposite direction, the lower clutch 66' is energized, and the upperclutch 66 is deenergized. The lower motor 56', which is continuouslyrotating. then drives the lower section of the shaft 64 through thepinion 57', the gear 60', the pinion 70', and the clutch 66'.

The assembly 107 can be caused to rotate in either direction, about theshaft 108, by driving the middle section of the shaft 80 (FIG. 5) in theproper direction. The middle section of the shaft 80 can be driven inone direction from the upper motor 56 and in the opposite direction fromthe lower motor 56', by selective energization of the upper or lowerelectromagnetic clutches 81 and 81', respectively, that are interposedbetween the sections of the shaft 80. When the upper clutch 81 isenergized, the middle section of the shaft will be driven by thecontinuously running upper motor 56 through a gear train that includesthe pinion 57 (FIG. 6), the gear 61, the pinion 82, and the uppersection of the shaft 80. When the upper electromagnetic clutch 81 isdeenergized, and the lower clutch S1 is energized, the shaft is drivenfrom the lower motor 56 through a gear train including the pinion 57',the gear 61', the pinion 82, and the lower section of the shaft 80. Foreither direction of rotation of the shaft 80, the worm 83 is rotated todrive the wormwheel 84, the shaft 85, the gear 86 (FIG. 2), and thepinion 102, to turn the shaft 101, the pinion 103, and the gear 114. Asthe gear 114 is rotated, it rotates the assembly 107 about the stud 108.

Obviously, the jaw 123 can be pivoted relative to the jaw 121 to engageor release a workpiece or other object at a desired time as the assembly107 is rotated about the shaft 108. To this end, the switch 126 (FIG.and trip dogs 127 can be adjusted to energize and deenergize the clutch98 at the desired times.

In similar manner, the arm 54 can be moved in and out of the tubularportion 52 simultaneously with the rotation of the assembly 107 aboutthe shaft 108. To move the arm 54 in or out of the housing 50, the shaft90 (FIG. 5) is rotated in one direction or the other by selectiveenergization of the upper and lower electromagnetic clutches 91 and 92',respectively, that are interposed between the sections of the shaft.When the upper clutch 91 is energized, the upper and middle sections ofthe shaft 90 are driven from the continuously running motor 56, througha gear train including the pinion 57 (FIG. 6), the gear 62, the pinion92, and the upper section of the shaft 90. When the upper clutch 91 isdeenergized, and the lower clutch 91' is energized, the lower and middlesections of the shaft 90 are driven from the lower motor 56' through agear train that includes the pinion 57', the gear 62', the pinion 92',and the lower section of the shaft 90. For each direction of rotation ofthe middle section of the shaft 90, the pinion 93 is driven to drive therack 94 and the arm 54 in the direction of movement of the arm dependingupon the direction of rotation of the middle section of shaft 90.

To change the elevation of the device, the motor 16 (FIG. 7) is drivento rotate the shaft 20, and the pinion 21, to drive the rack 22, to movethe pedestal in and out of the base 14.

To rotate the entire device through an angle, the motor 31 is driven torotate the shaft 33, the pinion 34, and the gear to drive the column 23.

From the foregoing discussion of the movements of the device, it can beseen that the pivotal movement of the jaw 23 relative to the fixed jaw121 can perform grasping functions and release functions, analogous tothose that are performed by the human hand. The rotation of the assembly107 about its shaft 108 simulates the articulation of a wrist. Themovement of the arm 54 in and out of the housing 50 simulates the backand forward motion that is obtainable through the combination linkage inthe human body of the wrist, elbow, and shoulder. The up and downmovement of pedestal 15 simulates that obtained by the up and downmovements of which the human body is capable. The rotary movement ofcolumn 23 simulates the rotary movements of which the human body iscapable. When all of the movements of which the machine is capable areconsidered together, it can be seen that the movements of a human workercan be duplicated with great exactness.

When control earns 49 of proper contour are used, the parts of theapparatus can be caused to operate in any desired sequence of movements,repetitively.

Since all of the various leverages that can be applied by this transfermechanism can be applied simultaneously, the elapsed time for anyoperation involving sequential grasping, transferring, and releasing,can be minimized. In this way, the time required for any transferringoperation is limited only by the speed at which the machine can bedriven by its motors.

In the illustrated embodiment of the invention, the distance which theworkpiece moves up or down in being transferred from a conveyor to amachine, or vice versa, or from one machine to another, is determined bymovement of pedestal 15; the angle thereof which the arm 54 will travelwhen it swings in transferring the workpiece can be controlled throughrotation of the column 23 about its vertical axis; the distance theassembly 107 travel linearly in effecting such transfer movement isdetermined by the movement of the arm 54 in and out of the housing theangle through which the assembly 107 pivots in effecting such transferis determined by the amount and direction of swing of casing 109 (FIG.2); and the point at which the workpiece is grasped or is released isdetermined by the settings of the trip dogs 127 (FIG. 10).

While the invention has been described in connection with a specificembodiment thereof, then, it will be understood that it is capable offurther modification, and this application is intended to cover anyvariations, uses, or adaptations of the invention following, in general,the principles of the invention and including such departures from thepresent disclosure as come within known or customary practice in the artto which the invention pertains and as may be applied to the essentialfeatures hereinbefore set forth, and as fall within the scope of theinvention or the limits of the appended claims.

Having thus described my invention, what I claim is:

1. A transfer mechanism comprising a support, a tubular arm reciprocablerectilinearly in said support, a first shaft mounted in said arm forrotation about an axis extending in the direction of reciprocation ofsaid arm, a supporting member pivotal on said arm about an axisextending at right angles to said direction, a pair of gripping jawsmounted on said supporting member, one of which is pivotal toward andfrom the other about an axis offset from but parallel to the axis ofpivotal movement of said supporting member, a second shaft journaledcoaxially in said first shaft, means connecting said arm and shafts toreciprocate together, means connecting said first shaft to saidsupporting member to pivot said supporting member on its axis onrotation of said first shaft, means connecting said second shaft to saidpivotal jaw to pivot said jaw on its axis on rotation of said secondshaft, and means for effecting movement of said arm rectilinearly, androtation of said shafts in a desired, predetermined order whereby tocause said jaws to grip and transfer an object from one place to anotherand then to release said object, the means connecting said first shaftwith said supporting member comprising a pair of bevel gears, one ofwhich is coaxial with said first shaft and the other of which is coaxialwith said supporting member, and the means connecting said second shaftwith said pivotal jaw comprising a pair of bevel gears, which arecoaxial, respectively, with the firstnamed pair of bevel gears.

2. A transfer mechanism comprising a support, a tubular arm reciprocablerectilinearly in said support, a first shaft mounted in said arm forrotation about an axis extending in the direction of reciprocation ofsaid arm, a supporting member pivotal on said arm about an axisextending at right angles to said direction, a pair of gripping jawsmounted on said supporting member, one of which is pivotal toward andfrom the other about an axis offset from but parallel to the axis ofpivotal movement of said supporting member, a second shaft journaledcoaxially in said first shaft, means connecting said arm and shafts toreciprocate together, means connecting said first shaft to saidsupporting member to pivot said supporting member on its axis onrotation of said first shaft, means connecting said second shaft to saidpivotal jaw to pivot said jaw on its axis on rotation of said secondshaft, and means for effecting reciprocation of said arm and rotation ofsaid shafts in a desired, predetermined order whereby to cause said jawsto grip and transfer an object from one place to another and then torelease said object, the means for effecting reciprocation of said armcomprising two separate drives for moving said arm in oppositedirections, respectively, and electromagnetically operated clutches forselectively connecting one of said drives to said arm, and the means foreffecting rotation of said shafts, respectively, comprising in each casetwo separate drives for rotating the associated shaft in oppositedirections, respectively, and electromagnetically operated clutches forselectively connecting, in each case, one of said drives to itsassociated shaft, a pair of electric drive motors which operate,respectively, in opposite directions, all the drives for driving the twoshafts and for moving the arm axially, respectively, in one directionbeing connected to one of said motors, and all the drives for drivingthe two shafts and moving the arm axially, respectively, in the oppositedirection being connected to the other electric drive motor.

3. A transfer mechanism comprising a support, a tubular arm reciprocablerectilinearly in said support, a first shaft mounted in said arm forrotation about an axis extending in the direction of reciprocation ofsaid arm, a supporting member pivotal on said arm about an axisextending at right angles to said direction, a pair of gripping jawsmounted on said supporting member, one of which is pivotal toward andfrom the other about an axis offset from but parallel to the axis ofpivotal movement of said supporting member, a second shaft journaledcoaxially in said first shaft, means connecting said arm and shafts toreciprocate together, means connecting said first shaft to saidsupporting member to pivot said supporting member on its axis onrotation of said first shaft, means connecting said second shaft to saidpivotal jaw to pivot said jaw on its axis on rotation of said secondshaft, and means for effecting reciprocation of said arm and rotation ofsaid shafts in a desired, predetermined order whereby to cause said jawsto grip and transfer an object from one place to another and then torelease said object, the means for effecting reciprocation of said armcomprising two separate drives from moving said arm in oppositedirections, respectively, and electromagnetically operated clutches forselectively connecting one of said drives to said arm, and the means foreffecting rotation of said shafts, respectively, comprising in each casetwo separate drives for rotating the associated shaft in oppositedirections, respectively, and electromagnetically operated clutches forselectively connecting, in each case, one of said drives to itsassociated shaft, and means for controlling the sequence of operation ofsaid clutches comprising a plurality of coaxial rotary cams, and meansfor rotating said cams continuously during operation of the machine.

4. A transfer mechanism comprising a housing which is rotatable and isreciprocable in the direction of its axis of rotation, a tubular armreciprocable in said housing in a direction at right angles to the axisof rotation of said housing, a first shaft mounted in said arm forrotation about an axis extending in the direction of reciprocation ofsaid arm, a supporting member pivotal on said arm about an axisextending at right angles to the direction of reciprocation of said arm,a pair of gripping jaws mounted on said supporting member, one of whichis pivotal toward and from the other about an axis offset from butparallel to the axis of pivotal movement of said supporting member, asecond shaft journaled coaxially in said first shaft, means connectingsaid arm and shafts to reciprocate together, means connecting said firstshaft to said supporting member to pivot said supporting member on itsaxis on rotation of said first shaft, means connecting said second shaftto said pivotal jaw to pivot said jaw on its axis on rotation of saidsecond shaft, and means for effecting reciprocation of said arm androtation of said shaft in a desired, predetermined order whereby tocause said jaws to grip and transfer an object from one place to anotherand then to release said object, the means for effecting reciprocationof said arm comprising two separate drives for moving said arm inopposite directions, respectively, and electromagnetically operatedclutches for selectively connecting one of said drives to said arm, andthe means for effecting rotation of said shafts, respectively,comprising, in each case, two separate drives for rotating theassociated shaft in opposite directions, respectively, andelectromagnetically operated clutches for selectively connecting in eachcase, one of said drives to its associated shaft.

5. A work transfer mechanism comprising in combination a base, a movablesupport mounted on said base to rotate about and reciprocate along thesame axis, first and second motor driven means for respectively rotatingsaid support and reciprocating said support, an arm movably mounted onsaid support and extending therefrom for reciprocal movement along asecond axis perpendicular to said first mentioned axis, third motordriven means for reciprocally moving said arm, work handling meansoperably mounted at the end of said arm to rotate about and swingangularly of said second mentioned axis, fourth and fifth motor drivenmeans for respectively rotating and swinging said work handling means,separate switch means for each of said motor driven means, andautomatically operable cam means for individually actuating said switchmeans to efiect separately, simultaneously or in overlapping sequencethe movement of said work handling means through a determined path.

6. A work transfer mechanism comprising a rotary, elevatable support,electrically controlled motor driven means to move said supportvertically, electrically controlled motor driven means to rotate saidsupport about a vertical axis, an arm mounted for reciprocal movement inand out of said support, electrically controlled motor driven means toreciprocate said arm, a grasping assembly mounted at the outer end ofsaid arm for inclination on said arm about an axis disposed at an angleto the direction of reciprocation of said arm, electrically controlledmotor driven means to incline said assembly, said assembly including apair of members mounted for pivotal movement toward and away from eachother for grasping objects there-between, electrically controlled motordriven means to move said members, and means including a plurality ofswitches, and a plurality of rotary control cams and motor driven meansfor continuously driving said cams, said cams being mounted toautomatically operate said switches in sequence to individually controlsaid several motor driven means separately, simultaneously or inoverlapping sequence to efiect cooperative movement of said support, armand grasping means repetitively through a defined path.

7. The mechanism according to claim 6 including means for prepositioningsaid rotary cums to predetermine said defined path.

8. A work transfer mechanism comprising a base, a support member mountedon said base, said support being rotatable about a vertical axis andmovable upwardly and downwardly along said axis with respect to saidbase, a rigid horizontal arm member mounted on said support and beingextendible inwardly and outwardly of said support along an axisperpendicular to said support, separate means for moving each of saidmembers including a motor and a mechanical linkage connecting said motorand said respective member, separate switch means for each of saidmotors, and automatic cam means for individttally actuating saidswitches to effect movement of said members separately, simultaneouslyor in overlapping sequence, said control means including limit means fordefining the extent and duration of the motor actuation whereby saidsupport and arm are caused to move in a predetermined path.

9. A work transfer mechanism comprising a base, a support member mountedon said base, said support being rotatable about a vertical axis andmovable upwardly and downwardly along said axis with respect to saidbase, a rigid horizontal arm member mounted on said support and beingextendible inwardly and outwardly of said support along an axisperpendicular to said support, separate means for moving each of saidmembers including a motor and a mechanical linkage connecting said motorand said respective member, separate switch means for each of saidmotors, and automatic cam means for individually actuating said switchesto efiect movement of said members separately, simultaneously or inoverlapping sequence, said control means including limit means fordefining the extent and duration of the motor actuation and means forcontinuously repeating the operation of said control means, whereby saidsupport and arm are caused to repetitively move in a predetermined path.

10. In a work transfer mechanism, an oscillatable verticallyreciprocable pedestal, a longitudinally reciprocable arm extendinghorizontally from said pedestal, a grasping assembly mounted on theouter end of the arm and pivotable about a horizontal axis normal to thedirection of reciprocation of the arm, a pair of work graspers mountedon said grasping assembly for pivotal movement toward and away from oneanother, a pair of drive means for each of said arms, grasping assemblyand graspers respectively, operable to move said arm, grasping assemblyand graspers in opposite directions, a pair of continuously operableelectric motors mounted on said pedestal, all of said drive means formoving their related members in one direction being coupled to one ofsaid motors, the remaining drive means being coupled to the other ofsaid motors, and selectively engageable clutch means in each of saiddrives.

11. The combination according to claim 10, including a housing atop thepedestal, the motors and a major portion of the drive means beingmounted within said housing, and in which the arm is hollow and housesthe portion of the drive means extending to said grasping assembly andgraspers.

12. A work transfer mechanism comprising a rotary elevatable pedestal, ahorizontal reciprocating arm mounted on said pedestal, work handlingmeans operatively mounted at an end of said arm, electric motor meanseach having separate switch means therefor for individually operatingeach of said pedestal, arm and work handling means separately,simultaneously or in overlapping sequence, and moveable cam means foractuating said switch means to eflect the movement of said pedestal, armand work handling means in a defined path in said separate, simultaneousor overlapping sequence.

13. A transfer mechanism comprising a support, a tubular armreciprocable rectilinearly in said support, a first shaft mounted insaid arm for rotation about an axis extending in the direction ofreciprocation of said arm, a supporting member pivotal on said arm aboutan axis extending at right angles to said direction, a pair of grippingjaws mounted on said supporting member, one of which is pivotal towardand from the other about an axis ofiset from: but parallel to the axisof pivotal movement of said supporting member, a second shaft journaledcoaxially in said first shaft, means connecting said arm and shafts toreciprocate together, gear means connecting one of said shafts to saidsupporting member to pivot said supporting member on its axis onmovement of said shaft, gear means connecting the other of said shaftsto said pivotal jaw to pivot said jaw on its axis on movement of saidother shaft, and means for effecting movement of said arm rectilinearlyand rotation of said shafts in a desired, predetermined order whereby tocause said jaws to grip and transfer an object from one place to anotherand then to release said object.

References Cited by the Examiner The following references, cited by theExaminer, are of record in the patented file of this patent or theoriginal patent.

UNITED STATES PATENTS MARVIN A. CHAMPION, Primary Exan'ziner.

HUGO O. SCHULTZ, Examiner.

